U.S. patent application number 17/098020 was filed with the patent office on 2021-05-20 for robots working in shifts and shift rotation method therefor.
This patent application is currently assigned to Electronics and Telecommunications Research Institute. The applicant listed for this patent is Electronics and Telecommunications Research Institute. Invention is credited to Yong Bon KOO.
Application Number | 20210149372 17/098020 |
Document ID | / |
Family ID | 1000005263335 |
Filed Date | 2021-05-20 |
United States Patent
Application |
20210149372 |
Kind Code |
A1 |
KOO; Yong Bon |
May 20, 2021 |
ROBOTS WORKING IN SHIFTS AND SHIFT ROTATION METHOD THEREFOR
Abstract
Provided is a robot working in shifts, the robot including a
storage unit configured to store received work plan information
including a work position, work information, and workload
information, and a work log created and received by a preceding
work robot, a work processing unit configured to move to a work
area and then work on the basis of plane information when only the
work plan information is present in the storage unit, a log
creation unit configured to detect workload performed through the
work processing unit and work position information regarding a work
position to which the robot has moved for work, create a work log
including the detected workload and work position information, and
store the created work log in the storage unit; a rotation
determination unit configured to determine a shift rotation cycle;
and a communication unit configured to establish a communication
link with a subsequent robot and transfer the work log stored in
the storage unit to the subsequent robot when the rotation
determination unit determines that a shift rotation time comes and
the subsequent robot approaches the work area.
Inventors: |
KOO; Yong Bon; (Daejeon,
KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Electronics and Telecommunications Research Institute |
Daejeon |
|
KR |
|
|
Assignee: |
Electronics and Telecommunications
Research Institute
Daejeon
KR
|
Family ID: |
1000005263335 |
Appl. No.: |
17/098020 |
Filed: |
November 13, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G05B 19/4155 20130101;
G05B 2219/34348 20130101; G05B 2219/40306 20130101 |
International
Class: |
G05B 19/4155 20060101
G05B019/4155 |
Foreign Application Data
Date |
Code |
Application Number |
Nov 14, 2019 |
KR |
10-2019-0145599 |
Claims
1. A robot working in shifts, the robot comprising: a storage unit
configured to store received work plan information including a work
position, work information, and workload information, and a work
log created and received by a preceding work robot; a work
processing unit configured to move to a work area and then work on
the basis of work plan information when only the work plan
information is present in the storage unit; a log creation unit
configured to detect workload performed through the work processing
unit and work position information regarding a work position to
which the robot has moved for work, create a work log including the
detected workload and work position information, and store the
created work log in the storage unit; a rotation determination unit
configured to determine a shift rotation cycle; and a communication
unit configured to establish a communication link with a subsequent
robot and transfer the work log stored in the storage unit to the
subsequent robot when the rotation determination unit determines
that a shift rotation time comes and the subsequent robot
approaches the work area.
2. The robot of claim 1, wherein when a work log created by the
preceding work robot is present in the storage unit, the work
processing unit works in association with work of the preceding
work robot on the basis of the work log.
3. The robot of claim 1, further comprising a communication
determination unit configured to determine whether log information
is normally transferred to the subsequent robot through the
communication unit, wherein when the communication determination
unit determines that the log information of the work robot is not
received, the communication unit establishes a communication link
with a standby robot located outside the work area and transfers
the work log stored in the storage unit to the standby robot.
4. The robot of claim 3, wherein when the log information is
received from the preceding work robot outside the work area, the
work processing unit moves to the work area on the basis of the
received log information.
5. The robot of claim 1, wherein when work log information is not
received from the preceding work robot after the work processing
unit moves to the work area on the basis of the work plan
information stored in the storage unit, the work processing unit
performs only a monitoring function in the work area without
working.
6. The robot of claim 5, wherein when the subsequent robot moves
into the work area, the work processing unit does not work and
returns from the work area.
7. The robot of claim 1, wherein the work log includes labeling
information of spaces into which the entire work area is divided,
location information of the spaces, information on types of work
performed over time, and information on progress of each piece of
work.
8. The robot of claim 1, wherein the communication link uses one of
wired and wireless communication protocols.
9. A shift rotation method for multiple robots working in shifts,
the shift rotation method comprising: storing a work log created by
a work robot, which is working; establishing a communication link
between a communication unit of the work robot and a communication
unit of a subsequent robot and transferring the work log to the
subsequent robot when the subsequent robot enters a work area to
work a next shift; and allowing the work robot to withdraw from the
work area.
10. The shift rotation method of claim 9, wherein the work log
includes labeling information of spaces into which the entire work
area is divided, location information of the spaces, information on
types of work performed over time, and information on progress of
each piece of work.
11. The shift rotation method of claim 9, wherein the communication
link uses one of wired and wireless communication protocols.
12. A shift rotation method for multiple robots working in shifts,
the shift rotation method comprising: storing a work log created by
a work robot, which is working; establishing a communication link
between a communication unit of the work robot and a communication
unit of a subsequent robot and transferring the work log to the
subsequent robot when the subsequent robot enters a work area to
work a next shift; determining whether the transferring of the work
log succeeds or fails; allowing the work robot to withdraw from the
work area when it is determined that the transferring of the work
log succeeds; and allowing the subsequent robot to resume work on
the basis of the work log provided by the work robot.
13. The shift rotation method of claim 12, further comprising
allowing the subsequent robot to monitor environmental information
in the work area without working in the work area when it is
determined that the work log of the work robot is not transferred
to the subsequent robot.
14. The shift rotation method of claim 13, further comprising:
allowing the subsequent robot to monitor the environmental
information in the work area and allowing the work robot to move
out of the work area; allowing the work robot to establish a
communication link with a standby robot outside the work area and
transfer the work log of the work robot to the standby robot;
allowing the standby robot to enter the work area and approach the
subsequent robot; and allowing the subsequent robot, which is
monitoring the work area, to withdraw from the work area and
allowing the standby robot to resume work in the work area on the
basis of the work log provided by the work robot.
15. The shift rotation method of claim 12, wherein the determining
of whether the transferring of the work log succeeds or fails
comprises: allowing the work robot to detect whether the subsequent
robot approaches within a preset range; allowing the work robot to
establish a communication link with the subsequent robot; allowing
the work robot to transfer specific preset data to the subsequent
robot and then determine whether response data is received from the
subsequent robot to check the establishment of the connection with
the subsequent robot; allowing the work robot to transfer the work
log of the work robot to the subsequent robot when it is determined
that the response data is received from the subsequent robot;
allowing the work robot to determine whether response data
corresponding to the reception of the work log of the work robot is
received from the subsequent robot; and determining that the
transferring of the work log succeeds when it is determined that
the response data corresponding to the reception of the work log is
received from the subsequent robot.
16. The shift rotation method of claim 15, wherein the determining
of whether the transferring of the work log succeeds or fails
further comprises: determining whether the connection has failed
more than a preset number of times when it is determined that the
response data is not received from the subsequent robot; and
checking the connection for transferring the work log when the
connection has not failed more than the preset number of times and
determining that the transferring of the work log fails when the
connection has failed more than the preset number of times.
17. The shift rotation method of claim 15, wherein the determining
of whether the transferring of the work log succeeds or fails
further comprises: determining whether the transferring of the work
log has failed more than a preset number of times when the response
data corresponding to the reception of the work log is not received
from the subsequent robot; and determining whether the transferring
of the work log is correct when the transferring has not failed
more than the preset number of times and determining that the
transferring of the work log fails when the transferring has failed
more than the preset number of times.
18. The shift rotation method of claim 15, wherein the specific
preset data is a checksum generated based on work log data.
19. The shift rotation method of claim 14, wherein the
communication link is a communication protocol capable of
unidirectional data transfer.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims priority to and the benefit of
Korean Patent Application No. 10-2019-0145599, filed on Nov. 14,
2019, the disclosure of which is incorporated herein by reference
in its entirety.
BACKGROUND
1. Field of the Invention
[0002] The present invention relates to robots working in shifts
and a shift rotation method therefor.
2. Discussion of Related Art
[0003] In facilities and spaces such as factories, power plants,
and the deep sea, it is necessary to alternately allocate and
operate multiple robots because one robot cannot perform a
continuous task alone due to durability and power issues.
[0004] However, in order for multiple robots to have work
continuity, it is necessary to transfer a work log to a subsequent
robot. In environments in which robots operate, there are cases in
which it is not possible to transfer work logs due to various
variables.
[0005] In particular, since electronic components of such a robot
are highly likely to be damaged due to a harsh environment, a
failure to transfer a work log may cause a big problem by affecting
work continuity.
[0006] In addition, in order to detect an emergency situation in a
harsh work area, it is often necessary to have one or more robots
in the work area.
SUMMARY OF THE INVENTION
[0007] The present invention is directed to providing a shift
rotation process for multiple robots working in shifts, and in
particular, a system and method for responding to a failure in the
transfer of a work log and allowing one or more robots to monitor
work areas.
[0008] The present invention is directed to providing a method of
at least one robot staying in a work area and monitoring the work
area and a robot implementing the same.
[0009] The present invention is not limited to the above
objectives, but other objectives not described herein may be
clearly understood by those skilled in the art from the following
description.
[0010] According to an aspect of the present invention, there is
provided a robot working in shifts, the robot including a storage
unit configured to store received work plan information including a
work position, work information, and workload information, and a
work log created and received by a preceding work robot, a work
processing unit configured to move to a work area and then work
based on work plan information when only the work plan information
is present in the storage unit, a log creation unit configured to
detect workload performed through the work processing unit and work
position information regarding a work position to which the robot
has moved for work, create a work log including the detected
workload and work position information, and store the created work
log in the storage unit, a rotation determination unit configured
to determine a shift rotation cycle, and a communication unit
configured to establish a communication link with a subsequent
robot and transfer the work log stored in the storage unit to the
subsequent robot when the rotation determination unit determines
that a shift rotation time comes and the subsequent robot
approaches the work area.
[0011] When a work log created by the preceding work robot is
present in the storage unit, the work processing unit may work in
association with work of the preceding work robot on the basis of
the work log.
[0012] The robot may further include a communication determination
unit configured to determine whether log information is normally
transferred to the subsequent robot through the communication unit,
wherein when the communication determination unit determines that
the log information of the work robot is not received, the
communication unit may establish a communication link with a
standby robot located outside the work area and transfer the work
log stored in the storage unit to the standby robot.
[0013] When the log information is received from the preceding work
robot outside the work area, the work processing unit may move to
the work area on the basis of the received log information.
[0014] When work log information is not received from the preceding
work robot after the work processing unit moves to the work area on
the basis of the work plan information stored in the storage unit,
the work processing unit may perform only a monitoring function in
the work area without working.
[0015] When the subsequent robot moves into the work area, the work
processing unit may not work and may return from the work area.
[0016] The work log may include labeling information of spaces into
which the entire work area is divided, location information of the
spaces, information on types of work performed over time, and
information on progress of each piece of work.
[0017] The communication link may use one of wired and wireless
communication protocols.
[0018] According to another aspect of the present invention, there
is provided a shift rotation method for multiple robots working in
shifts, the shift rotation method including storing a work log
created by a work robot, which is working, establishing a
communication link between a communication unit of the work robot
and a communication unit of a subsequent robot and transferring the
work log to the subsequent robot when the subsequent robot enters a
work area to work a next shift, and allowing the work robot to
withdraw from the work area. Here, the work log may include
labeling information of spaces into which the entire work area is
divided, location information of the spaces, information on types
of work performed over time, and information on progress of each
work.
[0019] The communication link may use one of wired and wireless
communication protocols.
[0020] According to another aspect of the present invention, there
is provided a shift rotation method for multiple robots working in
shifts, the shift rotation method including storing a work log
created by a work robot, which is working, establishing a
communication link between a communication unit of the work robot
and a communication unit of a subsequent robot and transferring the
work log to the subsequent robot when the subsequent robot enters a
work area to work a next shift, determining whether the
transferring of the work log succeeds or fails, allowing the work
robot to withdraw from the work area when it is determined that the
transferring of the work log succeeds, and allowing the subsequent
robot to resume work on the basis of the work log provided by the
work robot.
[0021] The shift rotation method may further include allowing the
subsequent robot to monitor environmental information in the work
area without working in the work area when it is determined that
the work log of the work robot is not transferred to the subsequent
robot.
[0022] The shift rotation method may further include allowing the
subsequent robot to monitor the environmental information in the
work area and allowing the work robot to move out of the work area,
allowing the work robot to establish a communication link with a
standby robot outside the work area and transfer the work log of
the work robot to the standby robot, allowing the standby robot to
enter the work area and approach the subsequent robot, and allowing
the subsequent robot, which is monitoring the work area, to
withdraw from the work area and allowing the standby robot to
resume work in the work area on the basis of the work log provided
by the work robot.
[0023] The determining of whether the transferring of the work log
succeeds or fails may include allowing the work robot to detect
whether the subsequent robot approaches within a preset range,
allowing the work robot to establish a communication link with the
subsequent robot, allowing the work robot to transfer specific
preset data to the subsequent robot and then determine whether
response data is received from the subsequent robot to check the
establishment of the connection with the subsequent robot, allowing
the work robot to transfer the work log of the work robot to the
subsequent robot when it is determined that the response data is
received from the subsequent robot, allowing the work robot to
determine whether response data corresponding to the reception of
the work log of the work robot is received from the subsequent
robot, and determining that the transferring of the work log
succeeds when it is determined that the response data corresponding
to the reception of the work log is received from the subsequent
robot.
[0024] The determining of whether the transferring of the work log
succeeds or fails may further include determining whether the
connection has failed more than a preset number of times when it is
determined that the response data is not received from the
subsequent robot and checking the connection for transferring the
work log when the connection has not failed more than the preset
number of times and determining that the transferring of the work
log fails when the connection has failed more than the preset
number of times.
[0025] The determining of whether the transferring of the work log
succeeds or fails may further include determining whether the
transferring of the work log has failed more than a preset number
of times when the response data corresponding to the reception of
the work log is not received from the subsequent robot and
determining whether the transferring of the work log is correct
when the transferring has not failed more than the preset number of
times and determining that the transferring of the work log fails
when the transferring has failed more than the preset number of
times.
[0026] The specific preset data may be a checksum generated based
on work log data.
[0027] The communication link may be a communication protocol
capable of unidirectional data transfer.
BRIEF DESCRIPTION OF THE DRAWINGS
[0028] FIG. 1 is a block diagram illustrating a configuration of a
robot working in shifts according to an embodiment of the present
invention.
[0029] FIG. 2 is a structure diagram of a work log of a robot
according to an embodiment of the present invention.
[0030] FIG. 3 is a reference diagram illustrating a shift rotation
process for robots according to an embodiment of the present
invention.
[0031] FIG. 4 is a reference diagram illustrating a shift rotation
process for robots according to another embodiment of the present
invention.
[0032] FIG. 5 is a flowchart illustrating a shift rotation method
for multiple robots working in shifts according to an embodiment of
the present invention.
[0033] FIGS. 6 and 7 are flowcharts illustrating a shift rotation
method for multiple robots working in shifts according to another
embodiment of the present invention.
[0034] FIGS. 8 to 10 are flowcharts illustrating sub-operations of
an operation of determining whether the work log transfer of FIG. 6
is achieved normally.
DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS
[0035] Advantages and features of the present invention and
implementation methods thereof will be clarified through the
following embodiments described in detail with reference to the
accompanying drawings. However, the present invention is not
limited to embodiments disclosed herein and may be implemented in
various different forms. The embodiments are provided for making
the disclosure of the prevention invention thorough and for fully
conveying the scope of the present invention to those skilled in
the art. It is to be noted that the scope of the present invention
is defined by the claims. The terminology used herein is for the
purpose of describing particular embodiments only and is not
intended to be limiting to the invention. As used herein, the
singular forms "a," "an," and "one" include the plural unless the
context clearly indicates otherwise. It will be further understood
that the terms "comprises" and/or "comprising," when used in this
specification, specify the presence of stated features, integers,
steps, operations, elements, and/or components but do not preclude
the presence or addition of one or more other features, integers,
steps, operations, elements, components, and/or groups thereof.
[0036] Hereinafter, exemplary embodiments of the present invention
will be described in detail with reference to the accompanying
drawings. FIG. 1 is a block diagram illustrating a configuration of
a robot working in shifts according to an embodiment of the present
invention.
[0037] As shown in FIG. 1, a robot working in shifts according to
an embodiment of the present invention includes a storage unit 100,
a work processing unit 200, a log creation unit 300, a rotation
determination unit 400, and a communication unit 500.
[0038] According to an embodiment of the present invention, one
robot works in one work area. Since one such robot works in a work
area, at least one robot may be positioned in the work area to
monitor the work area regardless of whether or not the robot itself
is working.
[0039] According to an embodiment of the present invention, the
work is determined based on location, and multiple pieces of work
are separated in one work area by time.
[0040] Accordingly, the work log includes work positions and the
current progress for each work position in the work area. Thus,
when work is resumed based on the work log, the work may be resumed
at a position determined on the basis of the work log and according
to the progress of the work.
[0041] In this case, the storage unit 100 stores work plan
information including a work position, work information, and
workload information and a work log created by and received from a
preceding work robot.
[0042] When the storage unit 100 has only the work plan
information, the work processing unit 200 moves to the work area
and then works on the basis of the work plan information.
[0043] The log creation unit 300 detects workload performed through
the work processing unit 200 and work position information
regarding the work position to which the robot has moved for the
work, creates a work log including the detected workload and work
position information, and stores the created work log in the
storage unit 100. FIG. 2 is a structure diagram of a work log of a
robot according to an embodiment of the present invention.
[0044] Here, a work log has three fields, where L is a work
position, W is the current work, and P is the progress of the
current work.
[0045] The space of the whole work area is divided into regions,
and the regions are named L1 to L4. In an embodiment of the present
invention, the following description is based on L4.
[0046] It is assumed that L4 has two pieces of work W1 and W2 in
chronological order and that for the current work progress, W1 is
completed and W2 is 33%.
[0047] Meanwhile, the rotation determination unit 400 serves to
determine a shift rotation period. Here, the shift rotation period
may be differently determined by a robot work time, a robot work
type, a robot work position, etc.
[0048] When the rotation determination unit 400 determines that a
shift rotation time comes and a subsequent robot approaches the
work area, the communication unit 500 may establish a communication
link with the subsequent robot and transfer the work log stored in
the storage unit 100 to the subsequent robot. Here, the
communication link may use one of wired and wireless communication
protocols.
[0049] Meanwhile, when a work log created by a preceding work robot
is present in the storage unit 100, the work processing unit 200
may work in the corresponding work area in association with the
work of the preceding work robot on the basis of the work log. That
is, according to an embodiment of the present invention, the work
may be resumed based on the work log forwarded to the robot. The
work log of the robot may have different content and a different
configuration depending on what kind of work the robot is
doing.
[0050] Accordingly, according to an embodiment of the present
invention, in an environment in which communication with a work
robot is not smooth, it is possible for the robot to perform
collaboration through shift rotation without losing the continuity
of work in a given work area.
[0051] Meanwhile, the communication determination unit 600
determines whether log information is normally transmitted to a
subsequent robot through the communication unit 500.
[0052] When the communication determination unit 600 determines
that the log information of the work robot is not received by the
subsequent robot, the communication unit 500 establishes a
communication link with a standby robot located outside the work
area and transfers the work log stored in the storage unit 100 to
the standby robot.
[0053] Also, according to an embodiment of the present invention,
efficient shift rotation between robots is possible even when a
robot fails, and thus it is possible to effectively cope with the
failure of the robot.
[0054] Meanwhile, when log information is received from the
preceding work robot located outside the work area, the work
processing unit 200 moves to the work area on the basis of the
received log information.
[0055] The shift rotation process for robots will be described
below with reference to FIG. 3. A first robot is working in a work
area (S). Here, the shift rotation between robots is determined
according to a predetermined time period, a determined work
progress, or the state of the first robot.
[0056] Subsequently, for shift rotation, a second robot enters the
work area (S2).
[0057] Subsequently, the first robot and the second robot approach
each other to transmit the work log. Connection establishment for
work log transmission is performed, and the work log transmission
is started (S3).
[0058] When the work log transmission succeeds, the first robot
withdraws from the work area (4), and the second robot resumes work
on the basis of the work log transmitted from the first robot
(S5).
[0059] Also, when the subsequent robot moves into the work area,
the work processing unit 200 does not work and returns from the
work area.
[0060] When the work log information is not received from the
preceding work robot after the work processing unit 200 moves to
the work area on the basis of the work plan information stored in
the storage unit 100, the work processing unit 200 performs only a
monitoring function in the work area without working.
[0061] For example, pieces of work S1, S12, and S13 of FIG. 4
starting from the entrance of the second robot up to the transfer
of the work log are the same as those (S, S2, and S3) of FIG. 3.
However, when it is determined that the transfer of the work log
has failed in the process of confirming the transfer of the work
log (S14), the first robot withdraws while the second robot remains
in the work area.
[0062] In this case, the second robot cannot resume work and thus
performs only the work of monitoring the work area. The first
robot, which has withdrawn, comes out of the work area and
transfers the work log to a third robot (S15). When the work log is
received, the third robot enters the work area (S16) and resumes
work, and the second robot, which has monitored the work area,
withdraws (S17).
[0063] As described above, according to an embodiment of the
present invention, when a work log is not provided by the preceding
work robot, the work is not performed in the work area. However, by
performing only an environment monitoring function, it is possible
to easily check the work area through communication when a standby
robot enters the work area later.
[0064] FIG. 5 is a flowchart illustrating a shift rotation method
for multiple robots working in shifts according to an embodiment of
the present invention.
[0065] As shown in FIG. 5, a work log created by a work robot,
which is working, is stored (S501). Here, the work log may include
labeling information of spaces into which the entire work area is
divided, location information of the spaces, information on types
of work performed over time, and information on progress of each
piece of work.
[0066] Subsequently, when a shift rotation time comes, a subsequent
robot enters the work area to work the next shift (S502). At this
time, a communication link is established between a communication
unit 500 of the work robot and a communication unit 500 of the
subsequent robot, and the work robot transfers the work log to the
subsequent robot (S503). Here, the communication link may use one
of wired and wireless communication protocols.
[0067] The work robot withdraws from the work area (S504).
[0068] FIGS. 6 and 7 are flowcharts illustrating a shift rotation
method for multiple robots working in shifts according to another
embodiment of the present invention.
[0069] As shown in FIGS. 6 and 7, a work log created by a work
robot, which is working, is stored (S601).
[0070] Subsequently, when a shift rotation time comes, a subsequent
robot enters a work area to work the next shift (S602). At this
time, a communication link is established between a communication
unit 500 of the work robot and a communication unit 50 of the
subsequent robot, and the work robot transfers the work log to the
standby robot (S603).
[0071] Subsequently, it is determined whether the transfer of the
work log succeeds or fails (S604).
[0072] When the transfer of the work log to the subsequent robot
succeeds (YES) in the determination operation (S604), the work
robot withdraws from the work area (S605).
[0073] Also, the subsequent robot resumes work on the basis of the
work log provided by the work robot (S606).
[0074] When the transfer of the work log to the subsequent robot
fails (NO) in the determination operation (S604), the standby robot
does not work in the work area and monitors environmental
information in the work area (S607).
[0075] Meanwhile, while the subsequent robot monitors the
environmental information in the work area, the work robot moves
out of the work area, establishes a communication link with a
standby robot, and then transfers the work log of the work robot to
the standby robot (S608).
[0076] Subsequently, the standby robot enters the work area and
approaches the subsequent robot (S609).
[0077] Subsequently, the subsequent robot, which is monitoring the
work area withdraws from the work area (S610), and the standby
robot resumes work in the work area on the basis of the work log
provided by the work robot (S611).
[0078] FIGS. 8 to 10 are flowcharts illustrating sub-operations of
the operation of determining whether the transfer of the work log
succeeds or fails in FIG. 6.
[0079] As shown in FIGS. 8 to 10, in the operation of determining
whether the transfer of the work log succeeds or fails, first, the
work robot detects whether the subsequent robot approaches within a
preset range (S801).
[0080] Subsequently, the work robot establishes a communication
link with the subsequent robot (S802).
[0081] In order to confirm the establishment of the connection with
the subsequent robot, the work robot transfers specific preset data
to the subsequent robot and then determines whether response data
is received from the subsequent robot (S803).
[0082] When the response data is received (YES) in the operation of
determining whether the response data is received from the
subsequent robot (S803), the work robot transfers the work log of
the work robot to the subsequent robot (S804).
[0083] Subsequently, the work robot determines whether response
data corresponding to the reception of the work log of the work
robot is received from the subsequent robot (S805).
[0084] When the response data corresponding to the reception of the
work log is received (YES) in the operation of determining whether
response data corresponding to the reception of the work log is
received (S805), the work robot determines that the transfer of the
work log succeeds (S806).
[0085] On the other hand, when the response data is not received
(NO) in the operation of determining whether the response data is
received from the subsequent robot (S803), the work robot
determines whether the connection has failed more than a preset
number of times (S807).
[0086] The processing proceeds to the operation of checking the
connection for transferring the work log (S802) when the connection
has not failed more than the preset number of times (NO), and the
work robot determines that the transfer of the work log fails
(S808) when the connection has failed more than the preset number
of times (YES).
[0087] On the other hand, when the response data corresponding to
the reception of the work log is not received (NO) in the operation
of determining whether response data corresponding to the reception
of the work log is received (S805), the work robot determines
whether the transfer of the work log has failed more than a preset
number of times (S809).
[0088] The processing proceeds to the operation of determining
whether the transfer of the work log is correct (S804) when the
transfer of the work log has not failed more than the preset number
of times (YES), and the work robot determines that the transfer of
the work log fails (S810) when the transfer of the work log has
failed more than the preset number of times (NO).
[0089] Here, the specific preset data may be a checksum generated
based on work log data.
[0090] Here, the communication link may be a communication protocol
capable of unidirectional data transfer.
[0091] When one or more robots work in one work area the work area
is divided into spaces through space division to set an environment
in which one robot works, and the same is applicable even to an
environment in which one or more robots work.
[0092] As an example, a work log transfer method and a
success/failure check method are as follows.
[0093] The transfer of the work log may be achieved between robots
on a one-to-one basis.
[0094] Robots approach each other to transfer the work log.
However, when the robots approach within a certain range, a
communication link is established to transfer the work log between
the two robots. Here, the type of connection for transferring the
work log includes any medium capable of unidirectional data
transmission.
[0095] Then, after the communication link for transferring the work
log is established, the establishment of the connection is checked.
Here, a method of checking the establishment of the connection is
to transfer and check specific predetermined data.
[0096] Then, in order to check the connection, the establishment is
attempted continuously for a certain time or for a certain number
of times, and when the connection is not established even after the
certain time or the certain number of times, this is regarded as a
failure.
[0097] When the connection succeeds, the transfer of the work log
between robots is started. After the transfer is finished or after
a certain period of time, it is checked whether the transfer
succeeds. To check whether the transfer is correct, the work robot
generates a small checksum on the basis of data of the work log to
be transferred.
[0098] This checksum is transferred to the subsequent robot.
Subsequently, it is necessary to repeatedly transfer the checksum
to increase the certainty of the checksum transfer. After the
checksum is transferred, the checksum is compared to a checksum
generated after the transfer of the work log is completed. In this
way, it is possible to check whether the transfer succeeds.
[0099] Subsequently, in order to check the transfer, the transfer
is attempted continuously for a certain time or for a certain
number of times, and when the same checksum cannot be generated
even after the certain time or the certain number of times, this is
regarded as a failure.
[0100] After it is checked whether the transfer succeeds or fails,
the allocation of a work robot is performed through the process
shown in FIGS. 3 and 4.
[0101] When the transfer of the work log and the placement of the
robot are finished, a subsequent robot can continue to do
incomplete work according to the transferred work log.
[0102] According to an embodiment of the present invention, when a
robot fails in a process of performing collaboration through shift
rotation without losing continuity in a given environment, it is
possible to efficiently cope with the failure.
[0103] Also, according to an embodiment of the present invention,
when an abnormality occurs in a shift rotation process, it is
possible to detect and respond to the abnormality by placing at
least one robot that monitors a work area.
[0104] Each step included in the learning method described above
may be implemented as a software module, a hardware module, or a
combination thereof, which is executed by a computing device.
[0105] Also, an element for performing each step may be
respectively implemented as first to two operational logics of a
processor.
[0106] The software module may be provided in RAM, flash memory,
ROM, erasable programmable read only memory (EPROM), electrical
erasable programmable read only memory (EEPROM), a register, a hard
disk, an attachable/detachable disk, or a storage medium (i.e., a
memory and/or a storage) such as CD-ROM.
[0107] An exemplary storage medium may be coupled to the processor,
and the processor may read out information from the storage medium
and may write information in the storage medium. In other
embodiments, the storage medium may be provided as one body with
the processor.
[0108] The processor and the storage medium may be provided in
application specific integrated circuit (ASIC). The ASIC may be
provided in a user terminal. In other embodiments, the processor
and the storage medium may be provided as individual components in
a user terminal.
[0109] Exemplary methods according to embodiments may be expressed
as a series of operation for clarity of description, but such a
step does not limit a sequence in which operations are performed.
Depending on the case, steps may be performed simultaneously or in
different sequences.
[0110] In order to implement a method according to embodiments, a
disclosed step may additionally include another step, include steps
other than some steps, or include another additional step other
than some steps.
[0111] Various embodiments of the present disclosure do not list
all available combinations but are for describing a representative
aspect of the present disclosure, and descriptions of various
embodiments may be applied independently or may be applied through
a combination of two or more.
[0112] Moreover, various embodiments of the present disclosure may
be implemented with hardware, firmware, software, or a combination
thereof. In a case where various embodiments of the present
disclosure are implemented with hardware, various embodiments of
the present disclosure may be implemented with one or more
application specific integrated circuits (ASICs), digital signal
processors (DSPs), digital signal processing devices (DSPDs),
programmable logic devices (PLDs), field programmable gate arrays
(FPGAs), general processors, controllers, microcontrollers, or
microprocessors.
[0113] The scope of the present disclosure may include software or
machine-executable instructions (for example, an operation system
(OS), applications, firmware, programs, etc.), which enable
operations of a method according to various embodiments to be
executed in a device or a computer, and a non-transitory
computer-readable medium capable of being executed in a device or a
computer each storing the software or the instructions.
[0114] A number of exemplary embodiments have been described above.
Nevertheless, it will be understood that various modifications may
be made. For example, suitable results may be achieved if the
described techniques are performed in a different order and/or if
components in a described system, architecture, device, or circuit
are combined in a different manner and/or replaced or supplemented
by other components or their equivalents. Accordingly, other
implementations are within the scope of the following claims.
[0115] Although the configuration of the present invention has been
described in detail with reference to the accompanying drawings,
this is merely an example, and it will be appreciated by those
skilled in the art that various modifications and changes may be
made therein without departing from the spirit of the present
invention. Accordingly, the scope of the present invention should
not be limited to the above-described embodiments. Rather, it is to
be determined only by the appended claims.
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